RRT-based path planning for virtual bronchoscopy simulator

Abstract:

In this paper, we offer a virtual bronchoscopy simulator as an assistance exploration tool and diagnosis of peripheral lung nodule lesions. We present a proposal for motion planning to a interest region in the lung nodule based on RRT. Navigation will be guided by this path in a 3d virtual lung reconstructed from CT images. We compare several RRT-algorithm looking for the optimal option for the virtual bronchoscopy problem.

Año de publicación:

2017

Keywords:

• Virtual Reality
• Computational geometric
• Kinematics
• Bronchoscopy
• RRT
• PATH PLANNING

Fuente:

google

scopus